BIO

I am a first-year biomedical engineering student from Pensacola, FL. I enjoy learning about STEM fields through hands-on experience. Specifically, research involving physics and biomechanics. I'd like to apply this knowledge in the future while working as an orthopedic specialist.

Teaching a Robot to Conduct the Band

Abstract

Digit is a humanoid robot fitted with technology that allows it to accomplish rather complex tasks. In this project, we explore Digit’s capabilities by using it to emulate the motions of a marching band conductor. Conducting patterns are complex and vary with both time signature and tempo. Digit is well suited to conducting, as it can carry out exact motions with precise, pre-calculated timing. However, conductors must sometimes change their patterns rapidly and on the fly, requiring not only the ability to maintain a steady beat, but also the ability to be flexible and improvise. The main challenge of this project is the implementation of conducting patterns to Digit's hardware. Using open source motion capture software, we translated a simple 4/4 conducting pattern from a real human conductor into 3-dimensional coordinate data. Using an operational space controller designed by the Optimal Robotics Lab, this data was then used to calculate and optimize the path of Digit’s arms. A separate system was then designed to allow manual human control and adjustment of Digit’s tempo. In the future, we would like to allow Digit to perform more complex patterns as well as musical cues. Eventually, we hope to test our work by arranging for Digit to conduct a performance of a collegiate marching band.

Keywords: Robotics, Music, Control Systems, Coding, Engineering